CN115771132B - A robotic device capable of automatically separating and combining - Google Patents
A robotic device capable of automatically separating and combining Download PDFInfo
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- CN115771132B CN115771132B CN202211497354.2A CN202211497354A CN115771132B CN 115771132 B CN115771132 B CN 115771132B CN 202211497354 A CN202211497354 A CN 202211497354A CN 115771132 B CN115771132 B CN 115771132B
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- 230000009193 crawling Effects 0.000 claims abstract description 181
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 43
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 238000001179 sorption measurement Methods 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 claims 6
- 230000001360 synchronised effect Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000005452 bending Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
本发明公开了一种能自动分开和合体的机器人装置，包括基础机器人和仿生爬行机器人；基础机器人，包括行走小车和升降式结合机构，升降式结合机构的升降结合平台作为仿生爬行机器人的结合工位；且升降结合平台上设有锁定机构。本发明仿生爬行机器人和基础机器人可以单独工作，也可以通过升降结合平台和锁定机构进行合体，合体后仿生爬行机器人的爬行脚两两相对折叠，并通过升降结合平台实现仿生爬行机器人的升降，使仿生爬行机器人通过抓取机构来获取火种，基础机器人移动实现转运，当分体时，仿生爬行机器人通过对角线的爬行腿机构同步运动的交替方式来实现连续爬行，并且通过第一旋转结构和第二旋转结构的配合还可以将爬行腿完全折叠起来。
The present invention discloses a robot device that can automatically separate and combine, including a basic robot and a bionic crawling robot; the basic robot includes a walking trolley and a lifting combination mechanism, and the lifting combination platform of the lifting combination mechanism serves as a combination station of the bionic crawling robot; and a locking mechanism is provided on the lifting combination platform. The bionic crawling robot and the basic robot of the present invention can work separately, or they can be combined through the lifting combination platform and the locking mechanism. After the combination, the crawling feet of the bionic crawling robot are folded relative to each other, and the lifting and combination platform is used to realize the lifting of the bionic crawling robot, so that the bionic crawling robot can obtain the fire through the grasping mechanism, and the basic robot moves to realize the transportation. When separated, the bionic crawling robot realizes continuous crawling through the alternating method of synchronous movement of the diagonal crawling leg mechanism, and the crawling legs can also be completely folded through the cooperation of the first rotating structure and the second rotating structure.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot device capable of automatically separating and combining.
Background
In order to acquire the fire, the robot needs to be lifted by means of a robot capable of lifting in the competition of the robot, and the requirement that the robot needs to quickly and stably acquire the fire and transfer the fire to a large torch fuel plate is provided, but the position of the fire is too complex to influence the movement speed and stability of the robot due to the fact that the robot is simply relied on, and the existing robot is mostly two-legged or four-legged, the stability of the two-legged is poor, the four-legged robot can only walk, and the robot cannot move continuously because of the incompatibility.
Disclosure of Invention
The invention provides a robot device capable of automatically separating and combining, wherein two robots can independently act during the separation, the two robots can cooperatively act during the combination, and the combination is locked through a lifting combination platform and a locking mechanism, so that the bionic crawling robot is prevented from being separated from a basic robot during the combination operation, and the use is prevented from being influenced.
In order to solve the technical problems, the invention adopts the following technical scheme:
A robot device capable of automatically separating and combining comprises a basic robot and a bionic crawling robot; the basic robot comprises a walking trolley and a lifting type combining mechanism, wherein the lifting type combining mechanism is arranged on a bottom plate of the walking trolley, and a lifting type combining platform of the lifting type combining mechanism is used as a combining station of the bionic crawling robot; and a locking mechanism for fixing the bionic crawling robot is arranged on the lifting combination platform. The basic robot can move by oneself, and the walking dolly generally uses crawler-type dolly, and lifting structure mechanism uses the motor to drive lead screw nut formula structure and drives the lift combination platform and go up and down to locking through locking mechanical system when combining, two robots break away from when avoiding closing the body, promotes the stability of closing the body.
As a preferable scheme of the invention, the locking mechanism comprises a locking rotary power piece and a locking clamping piece, wherein the locking rotary power piece is arranged below the bottom plate, a rotary part of the locking rotary power piece is connected with the locking clamping piece, and the locking clamping piece enters and exits from a locking abdication hole on the lifting combination platform under the drive of the locking rotary power piece; and the locking clamping piece corresponds to the crawling base of the bionic crawling robot to lock the bionic crawling robot.
As a preferred embodiment of the present invention, the locking portion of the locking clip is provided with a guide slope. The guide inclined plane is narrower closer to the top, when the locking hole on the crawling base and the locking hole are dislocated to a certain extent, the locking clamping piece still can enter the locking hole due to the narrow upper part, and the guide inclined plane of the locking clamping piece can adjust the position of the crawling base in the continuous rotation process, so that the locking hole is aligned with the locking hole. Preferably, the locking part is a bending locking part, and the bending locking part can better clamp the crawling base.
As a preferable scheme of the invention, in order to promote locking stability, the locking mechanism further comprises an electromagnet adsorption structure, wherein the electromagnet adsorption structure comprises an electromagnet and an adsorption iron block; the electromagnet is arranged on the crawling base, and the absorption iron block is fixed on the lifting combination platform.
As a preferable scheme of the invention, the bionic crawling robot comprises a crawling base and crawling leg mechanisms, wherein the two crawling leg mechanisms which are arranged at intervals are a crawling leg mechanism group; two sides of the crawling base are symmetrically provided with a crawling leg mechanism group;
The crawling base comprises an upper substrate and a lower bottom plate, a locking cavity is arranged between the upper substrate and the lower bottom plate, and a locking hole is formed in the lower bottom plate; the locking hole corresponds to the locking abdication hole;
The crawling leg mechanism comprises a first rotating structure, a second rotating structure and crawling legs; the first rotating structure is connected with the crawling base and rotates relative to the crawling base, the rotating part of the first rotating structure is connected with the second rotating structure and drives the second rotating structure to rotate, the rotating part of the second rotating structure is connected with the crawling legs, and the rotating axis of the first rotating structure is a vertical axis; the rotation axis of the second rotation structure is a horizontal axis; and the setting direction of the crawling leg is vertical to the rotation axis of the second rotation structure. When the bionic crawling robot crawls, the second rotating structure rotates firstly to lift the crawling leg, the first rotating structure rotates again to move the crawling leg forward, the second rotating structure resets to put down the crawling leg after the first rotating structure moves forward, the crawling is realized in one step, the diagonal synchronous motion is realized, under the premise that the stability of the robot is ensured, the crawling can be realized in a stepping way, the moving speed is improved, and the rotating power parts of the first rotating structure and the second rotating structure are steering engines. The invention can also fully fold the crawling leg through the cooperation of the first rotating structure and the second rotating structure.
As a preferable scheme of the invention, the first rotating structure comprises a first rotating power piece and a first rotating connecting piece, wherein the first rotating power piece is arranged on the crawling base, and a rotating part of the first rotating power piece is connected with the first rotating connecting piece and drives the first rotating connecting piece to rotate; the first rotary power piece is the steering wheel, and first rotary connection piece is the U template.
The second rotating structure comprises a second rotating power piece, a second rotating connecting piece and a crawling leg mounting piece, wherein the second rotating connecting piece is fixedly connected with the first rotating connecting piece, and the second rotating power piece is connected with the second rotating connecting piece and rotates relative to the second rotating connecting piece; the crawling leg mounting piece is fixedly connected with the second rotary power piece, and the mounting end face of the crawling leg mounting piece is positioned below the second rotary power piece; the crawling leg is fixedly connected with the mounting end face of the crawling leg mounting piece. The steering engine is used to second rotary power spare, and the U template is used to second rotary connection spare, and the U template provides the rotation of second rotary power spare and gives way to can also play the effect of inject rotation angle.
As a preferable scheme of the invention, when the bionic crawling robot and the basic robot are combined, the lower bottom plate of the crawling base is contacted with the lifting combination platform, and the locking rotary power piece drives the locking clamping piece to rotate, so that the locking clamping piece rotates upwards from a horizontal state to pass through the locking abdication hole to enter the locking hole, and the locking clamping piece clamps the lower bottom plate to limit the bionic crawling robot on the lifting combination platform; when the electromagnet adsorption mechanism is arranged, the electromagnet is electrified to attract and adsorb the iron blocks, and the crawling feet of the bionic crawling robot are folded in pairs; the second rotary power piece rotates to drive the crawling leg to rotate around the horizontal axis, so that the crawling leg is lifted and is positioned at the horizontal position; the first rotary power piece rotates and drives the second rotary structure to rotate through the first rotary connecting piece, so that the second rotary structure rotates around the vertical axis, and the lifted crawling leg is folded at the crawling base;
when the split type crawler is split, the crawler is contacted with the ground, and the locking rotary power piece reversely rotates, so that the locking clamping piece rotates out of the locking abdication hole; the crawling leg mechanism positioned on the diagonal line synchronously acts to realize crawling, and the second rotary power piece rotates to drive the crawling leg to rotate around the horizontal axis so as to lift the crawling leg; the first rotary power piece rotates and drives the second rotary structure to rotate through the first rotary connecting piece, so that the second rotary structure rotates around the vertical axis to move the lifted crawling leg forwards or backwards; the second rotary power piece reversely rotates to drive the crawling leg to reversely rotate around the horizontal axis, the crawling leg is put down, and the crawling leg mechanisms on the diagonal are alternately operated to complete the crawling function.
As a preferable scheme of the invention, a grabbing mechanism is arranged on the upper substrate, and comprises a grabbing bracket, a clamping jaw inclined rotating structure and a clamping jaw structure; the grabbing support is arranged on the crawling base, a clamping jaw inclined rotating structure is arranged on the upper portion of the grabbing support, and a rotating portion of the clamping jaw inclined rotating structure is connected with the clamping jaw structure and changes the inclination angle of the clamping jaw structure. The grabbing mechanism is used for grabbing the fire seeds in the match and transferring, the clamping jaw structure can be opened and closed to grab and release the fire seeds, and the clamping jaw inclined rotating structure can be used for carrying the clamping jaw structure to change the inclination angle so as to be suitable for the fire seeds at different placing positions and ensure that the fire seeds cannot fall in the transferring process.
As a preferable mode of the invention, the clamping jaw tilting rotation structure comprises a tilting rotation base plate and a tilting rotation power piece; the inclined rotating base plate is arranged on the grabbing bracket, the inclined rotating power piece is arranged on the inclined rotating base plate, and the rotating shaft of the inclined rotating power piece is a horizontal rotating shaft; the clamping jaw structure comprises a clamping jaw substrate, a clamping jaw opening and closing power piece, a clamping jaw opening and closing driving wheel and two clamping jaw assemblies which are oppositely arranged, wherein the clamping jaw assemblies comprise clamping jaws, clamping jaw opening and closing driven wheels and clamping jaw opening and closing rotating shafts; the clamping jaw base plate is connected with a rotary output part of the inclined rotary power piece, the clamping jaw opening and closing power piece is arranged on the clamping jaw base plate, a rotary shaft of the clamping jaw opening and closing power piece is a vertical rotary shaft, a clamping jaw opening and closing driving wheel is arranged on the rotary shaft and is in transmission connection with a clamping jaw opening and closing driven wheel of one clamping jaw assembly, and the clamping jaw opening and closing driven wheel is arranged on the clamping jaw opening and closing rotary shaft, is connected with the clamping jaw opening and closing driven wheel and rotates along with the clamping jaw opening and closing driven wheel around the clamping jaw opening and closing rotary shaft; and two clamping jaw assemblies clamping jaw the opening and closing driven wheels are connected in a transmission way. The tilting rotary power piece and the clamping jaw opening and closing power piece all adopt steering engines, the clamping jaw opening and closing power piece drives the clamping jaw opening and closing driving wheel to rotate, the clamping jaw opening and closing driving wheel is meshed with the clamping jaw opening and closing driven wheel, the two clamping jaw opening and closing driven wheels are meshed with each other, and synchronous approaching or separating of the two clamping jaws is achieved.
As a preferred solution of the invention, a gravity center stabilizing structure is provided on the travelling trolley, which may be a counterweight structure and/or a folding roller stabilizing leg. The counterweight structure is used for avoiding that the integral gravity center of the combined robot is easy to topple over when the integral gravity center of the combined robot is near the front, the folding roller stabilizes the supporting leg, the rotating supporting leg is driven by the steering engine, the roller is installed at the lower part of the rotating supporting leg, the rotating supporting leg is positioned at the front part of the walking trolley, and the rotating supporting leg and the walking trolley form a triangle after being put down, so that the combined robot is prevented from toppling over.
The bionic crawling robot and the basic robot can work independently, the crawling legs of the bionic crawling robot are folded in pairs after the combination, the lifting of the bionic crawling robot is realized through the lifting combination platform, the bionic crawling robot obtains fire seeds through the grabbing mechanism, the basic robot moves to realize transfer, when the bionic crawling robot is separated, the continuous crawling is realized through an alternating mode of synchronous movement of diagonal crawling leg mechanisms, and the crawling legs can be completely folded through the cooperation of the first rotating structure and the second rotating structure.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a combined structure of a basic robot and a bionic crawling robot.
Fig. 2 is a schematic structural view of the basic robot of the present invention.
Fig. 3 is a schematic structural view of the bionic crawling robot.
FIG. 4 is a schematic view of the structure of the creeper leg mechanism of this invention.
Fig. 5 is a schematic structural view of the grabbing mechanism of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
Examples:
a robot device capable of automatically separating and combining comprises a basic robot 1 and a bionic crawling robot 2.
The basic robot 1, as shown in fig. 2, includes a travelling trolley 11 and a lifting combined mechanism 12, where the basic robot can move by itself, the travelling trolley generally uses a crawler-type trolley, and the crawler is not shown in fig. 1 and 2; the lifting type combination mechanism is arranged on the bottom plate of the walking trolley 11, and the motor 5 is used for driving the screw nut type structure to drive the lifting type combination platform to lift, and the lifting type combination platform is used as a combination station of the bionic crawling robot 2; and the lifting combination platform is provided with a locking mechanism 3 for fixing the bionic crawling robot.
The locking mechanism is used for locking during combination, so that two robots are prevented from being separated during combination, the locking mechanism 3 comprises a locking rotary power piece 31 and a locking clamping piece 32, the locking rotary power piece 31 uses a steering engine, the locking rotary power piece 31 is arranged below a bottom plate, a rotary part of the locking rotary power piece 31 is connected with the locking clamping piece 32, and the locking clamping piece 32 enters and exits a locking abdication hole on a lifting combination platform under the driving of the locking rotary power piece 31; and the locking clamp 32 corresponds to the crawling base 21 of the bionic crawling robot 2 to lock the bionic crawling robot.
Further, the locking portion of the locking clip 32 is provided with a guide slope. The guide inclined plane is narrower closer to the top, when the locking hole on the crawling base and the locking hole are dislocated to a certain extent, the locking clamping piece still can enter the locking hole due to the narrow upper part, and the guide inclined plane of the locking clamping piece can adjust the position of the crawling base in the continuous rotation process, so that the locking hole is aligned with the locking hole. In this embodiment, locking part is the locking part of bending, and the locking part of bending can better block the base of crawling.
Meanwhile, in order to improve locking stability, the locking mechanism 3 further comprises an electromagnet adsorption structure, wherein the electromagnet adsorption structure comprises an electromagnet 33 and an adsorption iron block 34; the electromagnet 33 is mounted on the crawling base 21, and the iron-adsorbing block 34 is fixed on the lifting and lowering combined platform.
And in order to avoid the integral gravity center from being forward when the trolley is combined, a gravity center stabilizing structure is arranged on the travelling trolley 11 and is a counterweight structure and a folding roller stabilizing support leg. The counterweight structure is used for avoiding that the integral gravity center of the combined robot is easy to topple over when the integral gravity center of the combined robot is near the front, the folding roller stabilizes the supporting leg, the rotating supporting leg is driven by the steering engine, the roller is installed at the lower part of the rotating supporting leg, the rotating supporting leg is positioned at the front part of the walking trolley, and the rotating supporting leg and the walking trolley form a triangle after being put down, so that the combined robot is prevented from toppling over.
The bionic crawling robot 2, as shown in fig. 3-5, comprises a crawling base 21 and crawling leg mechanisms 22, wherein the two crawling leg mechanisms 22 arranged at intervals are a crawling leg mechanism group; two sides of the crawling base 21 are symmetrically provided with a crawling leg mechanism group;
The crawling base 21 comprises an upper substrate 211 and a lower bottom plate 212, a locking cavity 213 is arranged between the upper substrate 211 and the lower bottom plate 212, and a locking hole 214 is arranged on the lower bottom plate 212; locking aperture 214 corresponds to a locking relief aperture;
The crawling leg mechanism 22 comprises a first rotating structure 221, a second rotating structure 222 and crawling legs 223; the first rotating structure 221 is connected with the crawling base 21 and rotates relative to the crawling base 21, the rotating part of the first rotating structure 221 is connected with the second rotating structure 222 and drives the second rotating structure to rotate, the rotating part of the second rotating structure 222 is connected with the crawling leg 223, and the rotating axis of the first rotating structure 221 is a vertical axis; the rotation axis of the second rotation structure 222 is a horizontal axis; and the setting direction of the crawling leg is vertical to the rotation axis of the second rotation structure.
When the bionic crawling robot crawls, the second rotating structure rotates firstly to lift the crawling leg, the first rotating structure rotates again to move the crawling leg forward, the second rotating structure resets to put down the crawling leg after the first rotating structure moves forward, the crawling is realized in one step, the diagonal synchronous motion is realized, under the premise that the stability of the robot is ensured, the crawling can be realized in a stepping way, the moving speed is improved, and the rotating power parts of the first rotating structure and the second rotating structure are steering engines. The invention can also fully fold the crawling leg through the cooperation of the first rotating structure and the second rotating structure.
Specifically, as shown in fig. 4, the first rotating structure 221 includes a first rotating power member 2211 and a first rotating connection member 2212, the first rotating power member 2211 is installed on the crawling base 21, and a rotating portion of the first rotating power member 2211 is connected with the first rotating connection member 2212 and drives the first rotating connection member 2212 to rotate; the first rotary power piece is the steering wheel, and first rotary connection piece is the U template.
The second rotating structure 222 includes a second rotating power element 2221, a second rotating connecting element 2222, and a crawling leg mounting element 2223, the second rotating connecting element 2222 is fixedly connected with the first rotating connecting element 2212, and the second rotating power element 2221 is connected with the second rotating connecting element 2222 and rotates relative to the second rotating connecting element 2222; the crawling leg mounting piece 2223 is fixedly connected with the second rotary power piece 2221, and the mounting end surface of the crawling leg mounting piece 2223 is positioned below the second rotary power piece; the crawling leg 223 is fixedly connected with the mounting end surface of the crawling leg mounting piece 2223. The steering engine is used to second rotary power spare, and the U template is used to second rotary connection spare, and the U template provides the rotation of second rotary power spare and gives way to can also play the effect of inject rotation angle.
And in order to achieve the acquisition of the fire, a gripping mechanism including a gripping bracket 41, a jaw tilting rotation structure 42, and a jaw structure 43 is installed on the upper substrate 211 as shown in fig. 5; the grasping bracket 41 is mounted on the crawling base 21, and a jaw tilting rotation structure 42 is mounted on an upper portion of the grasping bracket 41.
The jaw tilting and rotating structure 42 comprises a tilting and rotating substrate 421 and a tilting and rotating power piece 422; the tilting rotary substrate 421 is mounted on the grasping frame 41, the tilting rotary power piece 422 is mounted on the tilting rotary substrate 421, and the rotation axis of the tilting rotary power piece 422 is a horizontal rotation axis; the clamping jaw structure 43 comprises a clamping jaw substrate 431, a clamping jaw opening and closing power piece 432, a clamping jaw opening and closing driving wheel 433 and two clamping jaw assemblies which are oppositely arranged, wherein each clamping jaw assembly comprises a clamping jaw 434, a clamping jaw opening and closing driven wheel 435 and a clamping jaw opening and closing rotating shaft 436; the clamping jaw baseplate 431 is connected with a rotary output part of the inclined rotary power piece 422, the clamping jaw opening and closing power piece 432 is arranged on the clamping jaw baseplate 431, a rotary shaft of the clamping jaw opening and closing power piece 432 is a vertical rotary shaft, a clamping jaw opening and closing driving wheel 433 is arranged on the rotary shaft, the clamping jaw opening and closing driving wheel 433 is in transmission connection with a clamping jaw opening and closing driven wheel 435 of one clamping jaw assembly, the clamping jaw opening and closing driven wheel 435 is arranged on a clamping jaw opening and closing rotary shaft 436, and the clamping jaw 434 is connected with the clamping jaw opening and closing driven wheel 435 and rotates around the clamping jaw opening and closing rotary shaft 436 along with the clamping jaw opening and closing driven wheel 435; and the jaw opening and closing driven wheels 435 of the two jaw assemblies are in transmission connection. The tilting rotary power piece and the clamping jaw opening and closing power piece all adopt steering engines, the clamping jaw opening and closing power piece drives the clamping jaw opening and closing driving wheel to rotate, the clamping jaw opening and closing driving wheel is meshed with the clamping jaw opening and closing driven wheel, the two clamping jaw opening and closing driven wheels are meshed with each other, and synchronous approaching or separating of the two clamping jaws is achieved.
When the bionic crawling robot and the basic robot are combined, the combined state is shown in fig. 1, the lower bottom plate of the crawling base 21 is in contact with the lifting combined platform, the locking rotary power piece 31 drives the locking clamping piece 32 to rotate, so that the locking clamping piece rotates upwards from the horizontal state to pass through the locking abdication hole to enter the locking hole, and the locking clamping piece clamps the lower bottom plate to limit the bionic crawling robot on the lifting combined platform; when the electromagnet adsorption mechanism is arranged, the electromagnet is electrified to attract and adsorb the iron blocks, and the crawling feet of the bionic crawling robot are folded in pairs; the second rotating power piece 2221 rotates to drive the crawling leg 223 to rotate around the horizontal axis, so that the crawling leg is lifted and is in a horizontal position; the first rotating power member 2211 rotates and drives the second rotating structure to rotate through the first rotating connecting member, so that the second rotating structure rotates around the vertical axis, and the lifted crawling leg 223 is folded at the crawling base.
When the split type crawler is split, the crawler touches the ground, and the locking rotary power piece 31 reversely rotates, so that the locking clamping piece 32 rotates out of the locking abdication hole; the crawling leg mechanism 22 on the diagonal line synchronously acts to realize crawling, and the second rotary power piece 2221 rotates to drive the crawling leg 223 to rotate around the horizontal axis so as to lift the crawling leg; the first rotary power part 2211 rotates and drives the second rotary structure to rotate through the first rotary connecting part, so that the second rotary structure rotates around the vertical axis to move the lifted crawling leg 223 forwards or backwards; the second rotary power member 2221 rotates reversely to drive the crawling leg 223 to rotate reversely around the horizontal axis, the crawling leg is put down, and the crawling leg mechanisms on the diagonal line operate alternately, so that the crawling function is completed.
In the description of the present specification, reference to the terms "one embodiment," "example," "specific example," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
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| CN202211497354.2A CN115771132B (en) | 2022-11-28 | 2022-11-28 | A robotic device capable of automatically separating and combining |
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| CN202211497354.2A CN115771132B (en) | 2022-11-28 | 2022-11-28 | A robotic device capable of automatically separating and combining |
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| CN115675684A (en) * | 2022-11-28 | 2023-02-03 | 北京电子科技职业学院 | Four-foot crawling robot device |
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| CN107321969B (en) * | 2017-08-10 | 2023-02-17 | 安徽理工大学 | Omni-directional wheeled mobile heavy-duty foundry robot |
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